Stable adaptive control of multivariable servomechanisms, with application to a passive line-of-sight stabilization system

This paper considers the problem of controlling multivariable servomechanisms where there exist cross-couplings, or interactions, between the axes. An adaptive control strategy using a feedforward paradigm is proposed, and by incorporating direct adaptive methodologies, it is shown in the paper that uniformly stable operation is achieved together with asymptotic tracking of the reference command signals. In the paper, real-time experimental results in applying the proposed adaptive controller to a passive line-of-sight stabilization system are presented which demonstrates the effectiveness of the adaptive controller, and provides experimental verification of the main analytical results